From: Martin Prudek <prudemar@fel.cvut.cz>
Date: Sat, 16 May 2015 13:53:56 +0000 (+0200)
Subject: Added speed computation.
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/commitdiff_plain/8785f652c92188d72cc75512567ceae80b3e611d

Added speed computation.
---

diff --git a/pmsm-control/test_sw/cmd_proc.c b/pmsm-control/test_sw/cmd_proc.c
index 35ed9c2..69c17b8 100644
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -56,7 +56,6 @@ static void start(struct rpi_state* state){
  */
 static void stop(struct rpi_state* state){
 	sem_wait(&state->thd_par_sem);
-	state->test=0;		/*konfiguracni byte*/
 	state->commutate=0;
 	state->pwm1=0;
 	state->pwm2=0;
@@ -168,14 +167,12 @@ void printData(struct rpi_state* state){
 	struct rpi_state s;	/*state*/
 	float cur0, cur1, cur2;
 	int i;
-	signed long int speed;
 	/* copy the data */
 	sem_wait(&state->thd_par_sem);
 	data_p = *state->spi_dat;
 	s=*state;
 	sem_post(&state->thd_par_sem);
 
-	speed=data_p.pozice-s.old_pos;
 	if (data_p.adc_m_count){
 		cur0=data_p.ch0/data_p.adc_m_count;
 		cur1=data_p.ch1/data_p.adc_m_count;
@@ -187,8 +184,8 @@ void printData(struct rpi_state* state){
 			printf("%.2X ", data_p.debug_rx[i]);
 	}
 	puts("");
-	printf("\npozice=%u\n",data_p.pozice);
-	printf("rychlost=%ld\n",speed);
+	printf("\npozice=%ld\n",data_p.pozice);
+	printf("rychlost=%d\n",s.speed);
 	printf("chtena pozice=%d\n",s.desired_pos);
 	printf("transfer count=%u\n",s.tf_count);
 	printf("raw_pozice=%u\n",data_p.pozice_raw);
diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 8b65c74..48fcf1e 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -54,7 +54,8 @@ struct rpi_state rps={
 	.desired_pos=0,		/* desired position */
 	.pos_reg_ena=0,
 	.desired_spd=0,
-	.spd_reg_ena=0
+	.spd_reg_ena=0,
+	.old_pos={0}
 };
 
 /**
@@ -180,8 +181,7 @@ void appl_stop(){
 }
 
 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
-	data->pozice_raw=data->pozice;
-	data->pozice-=offset->pozice;
+	data->pozice=data->pozice_raw-offset->pozice_raw;
 	return;
 }
 /*
@@ -539,7 +539,6 @@ inline void pos_pid(){
  */
 inline void spd_pid(){
 	int duty_tmp;
-	signed long int speed=rps.spi_dat->pozice-rps.old_pos;
 	duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
 	if (duty_tmp>MAX_DUTY){
 		rps.duty=MAX_DUTY;
@@ -549,6 +548,17 @@ inline void spd_pid(){
 		rps.duty = duty_tmp;
 	}
 }
+
+/*
+ * \brief
+ * Computate speed.
+ */
+void compSpeed(){
+	signed long int spd;
+	spd=rps.spi_dat->pozice-rps.old_pos[rps.tf_count%OLD_POS_NUM];
+	rps.speed=(int32_t)spd;
+}
+
 /*
  * \brief
  * Feedback loop.
@@ -571,12 +581,14 @@ void * read_data(void* param){
 			clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
 			sem_wait(&rps.thd_par_sem);		/*---take semaphore---*/
 
-			rps.old_pos=rps.spi_dat->pozice;	/*old position*/
+			/*old positions*/
+			rps.old_pos[rps.tf_count%OLD_POS_NUM]=rps.spi_dat->pozice;
 			prepare_tx(tx);			/*save the data to send*/
 			data = spi_read(tx);		/*exchange data*/
 			/*subtract initiate postion */
 			rps.tf_count++;
 			substractOffset(&data,&pocatek);
+			compSpeed();			/*spocita rychlost*/
 
 			if (!rps.index_ok){
 				if (first){
@@ -616,7 +628,6 @@ void * read_data(void* param){
 }
 
 
-
 /**
  * \brief Main function.
  */
diff --git a/pmsm-control/test_sw/pmsm_state.h b/pmsm-control/test_sw/pmsm_state.h
index e028201..8c80265 100644
--- a/pmsm-control/test_sw/pmsm_state.h
+++ b/pmsm-control/test_sw/pmsm_state.h
@@ -4,6 +4,8 @@
 #include <stdint.h>
 #include <semaphore.h>
 
+#define OLD_POS_NUM 50
+
 struct rpi_in;
 
 struct rpi_state{
@@ -20,8 +22,9 @@ struct rpi_state{
 
 	int duty;			/* duty cycle of pwm */
 	int desired_pos;		/* desired position */
-	int old_pos;			/* one cycle old position */
+	int old_pos[OLD_POS_NUM];	/* old  positions */
 	int desired_spd;		/* desired speed */
+	int speed;
 
 	char commutate;			/* zapina prepocet duty na jednotlive pwm */
 	char pos_reg_ena;		/* position regulation enable */
diff --git a/pmsm-control/test_sw/rp_spi.c b/pmsm-control/test_sw/rp_spi.c
index 3ae1c63..6a51a31 100644
--- a/pmsm-control/test_sw/rp_spi.c
+++ b/pmsm-control/test_sw/rp_spi.c
@@ -117,7 +117,7 @@ struct rpi_in spi_read(uint8_t * tx)
 	 */
 
 	/*uprava endianity pozice*/
-	uint8_p=(uint8_t*)&in.pozice;
+	uint8_p=(uint8_t*)&in.pozice_raw;
 	/* x86 je Little-Endian */
 	uint8_p[0]=rx[3]; /* LSB */
 	uint8_p[1]=rx[2];
diff --git a/pmsm-control/test_sw/rp_spi.h b/pmsm-control/test_sw/rp_spi.h
index 28de88d..1be10b9 100644
--- a/pmsm-control/test_sw/rp_spi.h
+++ b/pmsm-control/test_sw/rp_spi.h
@@ -9,7 +9,7 @@
  * \brief Struktura pro prichozi data z fpga.
  */
 struct rpi_in{
-	uint32_t pozice;		/*continue with normal size and test it..*/
+	signed long int pozice;		/*continue with normal size and test it..*/
 	uint32_t pozice_raw;		/*with offset*/
 	uint32_t ch0, ch1, ch2;
 	int8_t hal1,hal2,hal3; 		/* bool values */